Bryon

I am trying to model a bi-pedal robot within MRS. I have created and standing and am using setjointtargetorientation to move the joints. The issue I am having is that if I try to insert the joints the robot basically explodes apart, I don't know if this is a spring issue or something else. The Entity for the robot is created by calling subsequent classes that inherit from MultiShape entity witin the constructors of the higher level class. I understand that a ParentJoint is automatically created and I re-edit the joints to make them behave properly. I try to initialize each entity in the highest entity and then inser the joints but like I said it explodes apart. I have it being stabled if I just re -edit the ParentJoint of each one. The problem is it doesn't behave correctly because some joints don't remain connected. If anyone wants to see the code, just reply and I will post it here. Thanks in advance for any help I can get.


Re: Microsoft Robotics - Simulation Joint insertion problem

KyleJ - MSFT

The values that you change in the ParentJoint are likely incorrect. Please post your code and I'll see if I can help.

-Kyle





Re: Microsoft Robotics - Simulation Joint insertion problem

Bryon

Thank you Kyle. Sorry I am so late to respond, but I actually got it to work correctly. It was a combination of stuff that I did wrong. I'm using MRS for a university class and had to learn it in basically a month but I got my simulation working. It is a bipedal robot, and I can actually make it walk within MRS. If anyone else is interested in the code for it, just let me know. Thanks again!




Re: Microsoft Robotics - Simulation Joint insertion problem

robotsr4me

Hello Bryon,

I am working on a simulation of a biped too. I am doing research on stability for different surfaces other than flat. I also have built a biped based on the openpino system. I was wondering if I could take a look at your code How many DOF Thanks for any help.

Chris




Re: Microsoft Robotics - Simulation Joint insertion problem

Zbyszko

Yes - I am also interested to see you code and compare to mine - as in my case I have problem to get angle values from joints and make these joints as a rigid joints. So maybe my way of making the robot is wrong - so will be nice to see how others are making them.